JPWO2013111231A1 - Battery state estimation device - Google Patents

Battery state estimation device Download PDF

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JPWO2013111231A1
JPWO2013111231A1 JP2013502933A JP2013502933A JPWO2013111231A1 JP WO2013111231 A1 JPWO2013111231 A1 JP WO2013111231A1 JP 2013502933 A JP2013502933 A JP 2013502933A JP 2013502933 A JP2013502933 A JP 2013502933A JP WO2013111231 A1 JPWO2013111231 A1 JP WO2013111231A1
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battery
value
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charge
discharge current
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JP5291845B1 (en
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欣之介 板橋
欣之介 板橋
修一 足立
修一 足立
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Calsonic Kansei Corp
Keio University
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
    • G01R31/36—Arrangements for testing, measuring or monitoring the electrical condition of accumulators or electric batteries, e.g. capacity or state of charge [SoC]
    • G01R31/367—Software therefor, e.g. for battery testing using modelling or look-up tables
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
    • G01R31/36—Arrangements for testing, measuring or monitoring the electrical condition of accumulators or electric batteries, e.g. capacity or state of charge [SoC]
    • G01R31/382—Arrangements for monitoring battery or accumulator variables, e.g. SoC
    • G01R31/3842—Arrangements for monitoring battery or accumulator variables, e.g. SoC combining voltage and current measurements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
    • G01R31/36—Arrangements for testing, measuring or monitoring the electrical condition of accumulators or electric batteries, e.g. capacity or state of charge [SoC]
    • G01R31/389—Measuring internal impedance, internal conductance or related variables
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
    • H01M10/00—Secondary cells; Manufacture thereof
    • H01M10/42—Methods or arrangements for servicing or maintenance of secondary cells or secondary half-cells
    • H01M10/48—Accumulators combined with arrangements for measuring, testing or indicating the condition of cells, e.g. the level or density of the electrolyte
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02E60/10—Energy storage using batteries

Abstract

電池の遅い応答部分を考慮して電池の内部状態を精度よく推定することができる電池の状態推定装置を提供する。電池の状態推定装置は、充放電電流検出部と、端子電圧検出部と、電池の早い応答部分と遅い応答部分とを有する等価回路モデルと、充放電電流値と端子電圧値とに基づき応答部分のうち早い応答部分のみを用いて逐次パラメータ推定を行う逐次パラメータ推定部と、等価回路モデルの遅い応答部分における抵抗とコンデンサ容量を表す定数を設定する定数設定部と、逐次パラメータ推定部で推定したパラメータおよび定数に充放電電流値をそれぞれ乗算する複数の乗算部と、これら乗算値を加算することで電池の過電圧値を得る加算部と、を備える。Provided is a battery state estimation device capable of accurately estimating an internal state of a battery in consideration of a slow response part of the battery. The battery state estimation device includes a charge / discharge current detector, a terminal voltage detector, an equivalent circuit model having an early response portion and a slow response portion of the battery, a response portion based on the charge / discharge current value and the terminal voltage value. Of these, the sequential parameter estimation unit that performs sequential parameter estimation using only the fast response part, the constant setting unit that sets constants representing resistance and capacitor capacity in the slow response part of the equivalent circuit model, and the sequential parameter estimation unit A plurality of multipliers that respectively multiply the parameter and constant by the charge / discharge current value, and an adder that obtains an overvoltage value of the battery by adding the multiplied values.

Description

本発明は、電池の内部状態を精度よく推定可能な電池の状態推定装置に関する。   The present invention relates to a battery state estimation device capable of accurately estimating an internal state of a battery.

電池のうちリチャージブルな二次電池は、たとえば電気自動車等に採用される。この場合、その電池での走行可能距離、充放電可能な電流値などを知る必要があるが、これらを把握するため、電池の内部状態量である電池の充電率（SOC: State of Charge）や健全度（SOH: State of Health）等を検出する必要がある。しかしながら、これらの内部状態量は直接検出できないため、電流積算法（クーロン・カウント法、あるいはブック・キーピング法とも言われる）や、開放電圧推定法（逐次パラメータ法）がよく用いられる。電流積算法は、充放電電流値を時系列で検出して内部状態を推定するものである。また、開放電圧推定法は、電池モデルを構築し実電池との間で入出力を比較してカルマン・フィルタ等の適応フィルタでそれらの差を小さくするようにして電池モデルの逐次パラメータを推定し、電池の開放電圧を推定することで充電率を推定するものである。   Among the batteries, a rechargeable secondary battery is employed in, for example, an electric vehicle. In this case, it is necessary to know the distance that can be traveled by the battery, the current value that can be charged and discharged, etc. In order to grasp these, the battery state of charge (SOC), which is the internal state quantity of the battery, It is necessary to detect the state of health (SOH). However, since these internal state quantities cannot be directly detected, a current integration method (also called a coulomb count method or a book keeping method) and an open-circuit voltage estimation method (sequential parameter method) are often used. In the current integration method, the internal state is estimated by detecting charge / discharge current values in time series. The open-circuit voltage estimation method estimates the sequential parameters of the battery model by constructing a battery model, comparing the input and output with the actual battery, and reducing the difference with an adaptive filter such as a Kalman filter. The charging rate is estimated by estimating the open circuit voltage of the battery.

上記電流積算法は、短時間での充電率の推定には優れているものの、誤差が集積して元に戻りにくい、また常時観測が必要などの欠点がある。一方、逐次パラメータ法は、入出力の両方を観測するため常時観測が不要で誤差の集積がないものの、短時間の充電率の推定精度はよくないといった欠点がある。
そこで、これら両方法を組み合わせて充電率を推定することが行われている。
このような従来技術としては、特許文献１に記載のものが知られている。Although the current integration method is excellent in estimating the charging rate in a short time, it has drawbacks that errors are accumulated and are difficult to return to the original, and that constant observation is required. On the other hand, the sequential parameter method does not require constant observation because both input and output are observed and does not accumulate errors, but has a drawback that the estimation accuracy of the charging rate in a short time is not good.
Therefore, the charging rate is estimated by combining these two methods.
As such a prior art, the thing of patent document 1 is known.

すなわち、特許文献１に記載の二次電池の充電率推定装置は、電池モデルを構築し、適応デジタル・フィルタを用いて逐次パラメータ推定を行って第１充電率を推定する第１充電率推定手段と、適応デジタル・フィルタを用いての充電率の推定が困難な電流状態において電流積算法を用いて第２充電率を推定する第２充電率推定手段と、第１充電率と第２充電率の一方を適宜選択する最終充電率推定値選択手段と、を備える。この場合、上記最終充電率推定値選択手段は、電流の正負の符号が反転したら第１充電率を選択し、その時点から充電のみまたは放電のみが予め設定した所定時間以上継続したら、第２充電率を選択するように構成されている。   That is, the secondary battery charging rate estimation device described in Patent Literature 1 constructs a battery model, performs sequential parameter estimation using an adaptive digital filter, and estimates the first charging rate, thereby estimating the first charging rate. A second charge rate estimating means for estimating a second charge rate using a current integration method in a current state in which it is difficult to estimate the charge rate using an adaptive digital filter, a first charge rate and a second charge rate Final charge rate estimated value selection means for appropriately selecting one of the above. In this case, the final charge rate estimated value selection means selects the first charge rate when the sign of the current is inverted, and after that, only the charge or only the discharge continues for a preset predetermined time or longer. Configured to select rate.

特開２００８−１６４４１７号公報JP 2008-164417 A

しかしながら、上記従来の充電率推定装置には、以下に説明するような問題がある。
すなわち、逐次パラメータ法を採用するにあたっては、電池の界面でのインピーダンスや電解質各部でのインピーダンス等で表した電池の等価回路モデルを用いる。
この場合、電池には、電荷移動過程が行われる界面での早い応答部分（たとえば時定数が数マイクロ秒〜数百ミリ秒）と、電解質界面とバルク領域との間にある拡散層での拡散過程となる遅い応答部分（たとえば時定数が１秒〜数時間）と、がある。そのため、電池の等価回路モデルもそれらを表す数学モデルを用いることになる。However, the above-described conventional charging rate estimation device has the problems described below.
That is, when adopting the sequential parameter method, an equivalent circuit model of the battery expressed by the impedance at the interface of the battery, the impedance at each part of the electrolyte, or the like is used.
In this case, the battery has a fast response part at the interface where the charge transfer process takes place (for example, a time constant of several microseconds to several hundred milliseconds) and diffusion in the diffusion layer between the electrolyte interface and the bulk region. There is a slow response part (for example, a time constant of 1 second to several hours) that becomes a process. Therefore, a mathematical model representing them is also used as the equivalent circuit model of the battery.

この場合、電池の早い応答部分については、S/N比や可観測性の観点から逐次パラメータ法にて容易に電池の内部状態を表すパラメータを推定できる。
これに対し、遅い応答部分については、S/N比が小さく、また可観測性の観点から逐次パラメータ法では正確にパラメータを推定することは困難となる。In this case, for the early response part of the battery, a parameter representing the internal state of the battery can be easily estimated by the sequential parameter method from the viewpoint of S / N ratio and observability.
On the other hand, for the slow response part, the S / N ratio is small, and it is difficult to accurately estimate the parameters by the sequential parameter method from the viewpoint of observability.

ハイブリッド車両(HEV: Hybrid Electric Vehicle)のように、電池の早い応答部分を中心に使用する環境下では、逐次パラメータ推定を行った場合でも過電圧分を正確に計算することができ、開放電圧、したがって電池の充電率を正確に推定することが可能となる。
これに対し、電気自動車(EV: Electric Vehicle)のように電池の遅い応答部分まで使用する環境下においては、逐次パラメータ推定を行った場合、電池の遅い応答部分のパラメータ推定精度が悪くなって過電圧分に誤差が生じてしまう。この結果、開放電圧や充電率といった電池の状態量の推定精度が悪化してしまうという問題が生じる。In an environment where the fast response part of the battery is used as in the case of a hybrid vehicle (HEV: Hybrid Electric Vehicle), the overvoltage component can be calculated accurately even when successive parameter estimation is performed. It is possible to accurately estimate the charging rate of the battery.
On the other hand, in an environment where the battery's slow response part is used, such as an electric vehicle (EV), when parameter estimation is performed sequentially, the parameter estimation accuracy of the battery's slow response part deteriorates, resulting in overvoltage. An error occurs in the minutes. As a result, there arises a problem that the estimation accuracy of the state quantity of the battery such as the open circuit voltage and the charging rate is deteriorated.

上記の場合、電池の遅い応答部分を求めようとするには、任意の波形を入力することが可能であり、かつ電池の開放電圧を精度よく求めることが可能な条件が揃えば、たとえば以下の方法で電池の遅い部分のパラメータ推定を精度よく行うことが可能となる。   In the above case, in order to obtain the slow response portion of the battery, it is possible to input an arbitrary waveform, and if the conditions for accurately obtaining the open circuit voltage of the battery are aligned, for example, the following This method makes it possible to accurately estimate the parameters of the slow part of the battery.

すなわち、精度の良い電圧センサを用いて電池の端子電圧値Vt(k)を測定する一方、電池シャント抵抗型の精度の良い電流センサを用いて電池に出入りする充放電電流を測定しクーロン・カウント法を用いて充電率SOC(k)を演算する。そして、あらかじめ実験で計測して得た充電率と開放電圧との関係データを表すルック・アップ・テーブルを用いて上記充電率SOC(k)に相当する開放電圧値OCV(k)を得る。次いで、減算器で端子電圧値Vt(k)から開放電圧値OCV(k)を減算することで、過電圧η(k)を得る。   That is, while measuring the battery terminal voltage value Vt (k) using an accurate voltage sensor, the charge / discharge current flowing into and out of the battery is measured using a battery shunt resistance type accurate current sensor to measure the coulomb count. The charging rate SOC (k) is calculated using the method. Then, an open-circuit voltage value OCV (k) corresponding to the above-described charge rate SOC (k) is obtained using a look-up table that represents relational data between the charge rate and the open-circuit voltage obtained by measurement in advance through experiments. Next, an overvoltage η (k) is obtained by subtracting the open circuit voltage value OCV (k) from the terminal voltage value Vt (k) by a subtractor.

そして、電流を入力、過電圧を出力として用い、過電圧部分の等価回路モデルを構築する。この過電圧部分の等価回路モデルは、フォスター型等価回路モデルなどの拡散方程式等、電池内部を表す数学モデルであれば良い。
このようにして、電池の遅い応答部分のパラメータ推定を実験等で求めることは一応可能である。しかし、実際に電池が使用される環境を考慮すると、たとえばEVなどにあっては、任意の波形を入力することはほとんどなく、また開放電圧を精度よく求めることが困難な条件・状況となることがほとんどである。
したがって、実際に電池が使用される状況下にあっては、電池の遅い応答部分のパラメータ推定は非常に困難であり、この結果、電池の開放電圧や充電率といった電池の内部状態を精度よく推定することは困難であるといった問題がある。Then, an equivalent circuit model of the overvoltage part is constructed using the current as input and the overvoltage as output. The equivalent circuit model of the overvoltage portion may be a mathematical model representing the inside of the battery, such as a diffusion equation such as a Foster-type equivalent circuit model.
In this way, it is possible to obtain the parameter estimation of the slow response part of the battery by experiments or the like. However, considering the environment in which the battery is actually used, for example, in EVs, it is almost impossible to input an arbitrary waveform, and it is difficult to obtain the open-circuit voltage accurately. Is almost.
Therefore, under actual battery use conditions, it is very difficult to estimate the parameters of the slow response part of the battery. As a result, the internal state of the battery, such as the open circuit voltage and the charging rate, can be accurately estimated. There is a problem that it is difficult to do.

本発明は、上記問題に着目してなされたもので、その目的とするところは、電池の遅い応答部分をも考慮して電池の過電圧の推定精度を向上させることで、電池の内部状態を精度よく推定できるようにした電池の状態推定装置を提供することにある。   The present invention has been made paying attention to the above-mentioned problems, and the object of the present invention is to improve the estimation accuracy of the battery overvoltage in consideration of the slow response part of the battery, thereby accurately determining the internal state of the battery. It is an object of the present invention to provide a battery state estimation device that can be well estimated.

この目的のため、請求項１に記載の本発明による電池の状態推定装置は、
電池の充放電電流値を検出する充放電電流検出部と、
電池の端子電圧値を検出する端子電圧検出部と、
電池の早い応答部分と遅い応答部分とを有する等価回路モデルと、
充放電電流検出部から入力された充放電電流値と端子電圧検出部から入力された端子電圧値とに基づき、等価回路モデルの応答部分のうち早い応答部分のみを用いて逐次パラメータ推定を行う逐次パラメータ推定部と、
等価回路モデルの遅い応答部分における抵抗とコンデンサ容量を表す定数を設定する定数設定部と、
逐次パラメータ推定部で推定したパラメータに充放電電流値を乗算することで早い応答部分の過電圧値を得る第１乗算部と、
定数設定部で設定した定数に充放電電流値を乗算することで遅い応答部分の過電圧値を得る第２乗算部と、
第１乗算部で得た早い応答部分の過電圧値と第２乗算部で得た遅い応答部分の過電圧値とを加算して電池の過電圧値を得る加算部と、
を備えたことを特徴とする。For this purpose, the battery state estimation device according to the present invention as set forth in claim 1 comprises:
A charge / discharge current detector for detecting the charge / discharge current value of the battery;
A terminal voltage detector for detecting the terminal voltage value of the battery;
An equivalent circuit model having a fast response portion and a slow response portion of the battery;
Sequential parameter estimation based on the charge / discharge current value input from the charge / discharge current detector and the terminal voltage value input from the terminal voltage detector using only the fast response part of the response part of the equivalent circuit model. A parameter estimator;
A constant setting unit for setting constants representing resistance and capacitor capacity in the slow response part of the equivalent circuit model;
A first multiplier that obtains an overvoltage value of an early response portion by multiplying a parameter estimated by the sequential parameter estimator by a charge / discharge current value;
A second multiplier that obtains an overvoltage value of a slow response part by multiplying a constant set by the constant setting part by a charge / discharge current value;
An adding unit for adding the overvoltage value of the early response part obtained by the first multiplication unit and the overvoltage value of the late response part obtained by the second multiplication unit to obtain an overvoltage value of the battery;
It is provided with.

請求項２に記載の電池の状態推定装置は、
請求項１に記載の電池の状態推定装置において、
端子電圧検出部で得た端子電圧値から加算部で得た過電圧値を減算して電池の開放電圧値を得る減算部と、
減算部で得た開放電圧値に基づき電池の充電率を求める開放電圧−充電率推定部と、
を有することを特徴とする。The battery state estimation device according to claim 2 is:
The battery state estimation device according to claim 1,
A subtraction unit that subtracts the overvoltage value obtained by the addition unit from the terminal voltage value obtained by the terminal voltage detection unit to obtain the open-circuit voltage value of the battery;
An open-circuit voltage-charge rate estimator for obtaining the charge rate of the battery based on the open-circuit voltage value obtained by the subtractor;
It is characterized by having.

請求項３に記載の電池の状態推定装置は、
請求項１又は請求項２に記載の電池の状態推定装置において、
端子電圧検出部で得た端子電圧値のうち遅い応答部分の分を取り除いて逐次パラメータ推定部へ入力するフィルタ処理部を有する、
ことを特徴とする。The battery state estimation device according to claim 3 is:
In the battery state estimation device according to claim 1 or 2,
A filter processing unit that sequentially removes the slow response portion of the terminal voltage value obtained by the terminal voltage detection unit and inputs it to the parameter estimation unit,
It is characterized by that.

請求項４に記載の電池の状態推定装置は、
請求項３に記載の電池の状態推定装置において、
フィルタ処理部が、充放電電流検出部で得た充放電電流値のうち遅い応答部分の分を取り除いて逐次パラメータ推定部へ入力する、
ことを特徴とする。The battery state estimation device according to claim 4 is provided.
In the battery state estimation device according to claim 3,
The filter processing unit removes the slow response part from the charge / discharge current value obtained by the charge / discharge current detection unit and sequentially inputs it to the parameter estimation unit.
It is characterized by that.

請求項１に記載の電池の状態推定装置にあっては、電池の等価回路モデルのうち早い応答部分のみで逐次パラメータ推定を行い、電池の遅い応答部分には予め実験で決定した定数を用いて、パラメータおよび定数に充放電電流値を掛けて加算することで、電池の過電圧の推定精度を向上させることができ、この結果、電池の内部状態を精度よく推定することができる。   In the battery state estimation device according to claim 1, parameter estimation is performed sequentially only with a fast response portion of the equivalent circuit model of the battery, and constants determined in advance by experiments are used for the slow response portion of the battery. By multiplying the parameter and constant by the charge / discharge current value and adding them, it is possible to improve the estimation accuracy of the battery overvoltage, and as a result, it is possible to accurately estimate the internal state of the battery.

請求項２に記載の電池の状態推定装置にあっては、端子電圧値から過電圧値を減算して電池の開放電圧値を精度よく得、この開放電圧値を用いてこれに対応する充電率を決定するので、電池の内部状態の一つである充電率も精度よく推定することができる。   In the battery state estimation device according to claim 2, the open-circuit voltage value of the battery is accurately obtained by subtracting the overvoltage value from the terminal voltage value, and the charge rate corresponding to this is obtained using the open-circuit voltage value. Thus, the charging rate, which is one of the internal states of the battery, can be estimated with high accuracy.

請求項３に記載の電池の状態推定装置にあっては、フィルタ処理部を設けて端子電圧値のうち遅い応答部分の分を取り除いて逐次パラメータ推定部へ入力するようにしたので、端子電圧値に基づく遅い応答部分と早い応答部分での過電圧値の重複計算を容易かつ確実に取り除くことができる。   In the battery state estimation device according to claim 3, since the filter processing unit is provided to remove the slow response portion from the terminal voltage value, the terminal voltage value is sequentially input to the parameter estimation unit. Thus, it is possible to easily and reliably eliminate the overlap calculation of the overvoltage values in the slow response portion and the fast response portion based on the above.

請求項４に記載の電池の状態推定装置にあっては、フィルタ処理部が充放電電流値のうち遅い応答部分の分を取り除いて逐次パラメータ推定部へ入力するので、逐次パラメータ推定においてその分の演算が容易になる。   In the battery state estimation apparatus according to claim 4, the filter processing unit removes the slow response portion from the charge / discharge current value and inputs it to the sequential parameter estimation unit. Calculation becomes easy.

実電池に接続した本発明の実施例１の電池の状態推定装置を構成する機能ブロックの関係を示すブロック図である。It is a block diagram which shows the relationship of the functional block which comprises the battery state estimation apparatus of Example 1 of this invention connected to the actual battery. 図１の逐次パラメータ推定部で用いる電池の早い応答部分と遅い応答部分の電池等価回路モデルを表す図である。It is a figure showing the battery equivalent circuit model of the quick response part and late response part of a battery which are used in the sequential parameter estimation part of FIG. 図１の電池の状態推定装置で用いるフィルタ処理部を構成するロー・パス・フィルタの構成を示す図である。It is a figure which shows the structure of the low pass filter which comprises the filter process part used with the battery state estimation apparatus of FIG. 実電池に接続した本発明の実施例２の電池の状態推定装置を構成する機能ブロックの関係を示すブロック図である。It is a block diagram which shows the relationship of the functional block which comprises the battery state estimation apparatus of Example 2 of this invention connected to the actual battery. 実施例２の電池の状態推定装置で用いる電池の等価回路モデルにあって電池の早い応答部分と遅い応答部分とを分けるためのサンプリングの方法を説明する図である。FIG. 6 is a diagram for explaining a sampling method for separating a fast response portion and a slow response portion of a battery in an equivalent circuit model of a battery used in the battery state estimation apparatus of Embodiment 2; 図５のサンプリング方法を用いて電池の早い応答部分と遅い応答部分との境目を決定した例で用いたボード線図である。FIG. 6 is a Bode diagram used in an example in which a boundary between a fast response portion and a slow response portion of the battery is determined using the sampling method of FIG. 5.

以下、本発明の実施の形態を、添付した図面に示す実施例に基づき詳細に説明する。   Hereinafter, embodiments of the present invention will be described in detail based on examples shown in the accompanying drawings.

まず、実施例１の電池の状態推定装置の全体構成を説明する。
この実施例１の電池の状態推定装置は、例えば電気自動車に搭載され、図示しない駆動モータ等に電力を供給可能な実電池（リチウム・イオン・バッテリ等の二次電池）１に接続されている。この状態推定装置は、電流センサ２と、電圧センサ３と、フィルタ処理部４と、逐次パラメータ推定部５と、第１乗算器６と、第２乗算器７と、加算器８と、減算器９と、開放電圧−充電率変換部１０と、定数設定部１１と、を備えている。First, the overall configuration of the battery state estimation device of Example 1 will be described.
The battery state estimation apparatus according to the first embodiment is connected to an actual battery (secondary battery such as a lithium ion battery) 1 that is mounted on, for example, an electric vehicle and can supply power to a drive motor (not shown). . This state estimation device includes a current sensor 2, a voltage sensor 3, a filter processing unit 4, a sequential parameter estimation unit 5, a first multiplier 6, a second multiplier 7, an adder 8, and a subtractor. 9, an open-circuit voltage-charge rate conversion unit 10, and a constant setting unit 11.

電流センサ２は、実電池１から駆動モータ等へ電力を供給する場合の放電電流の大きさを検出する。また、電流センサ２は、車両制動時に電気モータを発電機として機能させて制動エネルギの一部を回収したり地上の電源設備から充電したりする場合の充電電流の大きさを検出する。ここで検出した充放電電流値Iaは、充電時を＋、放電時を−とした入力信号としてフィルタ処理部４、および第２乗算器７へそれぞれ出力される。
なお、電流センサ２は、種々の構造・形式を有するものを適宜採用でき、本発明の充放電電流検出部に相当する。The current sensor 2 detects the magnitude of the discharge current when power is supplied from the actual battery 1 to the drive motor or the like. The current sensor 2 detects the magnitude of the charging current when the electric motor is caused to function as a generator during vehicle braking and a part of braking energy is collected or charged from a ground power supply facility. The charging / discharging current value Ia detected here is output to the filter processing unit 4 and the second multiplier 7 as an input signal in which charging is + and discharging is −.
In addition, what has various structures and forms can be employ | adopted for the current sensor 2 suitably, and is equivalent to the charging / discharging electric current detection part of this invention.

電圧センサ３は、実電池１の端子間の電圧値を検出するもので、ここで検出した端子電圧値Vaはフィルタ処理部４、および減算器９へそれぞれ出力される。
なお、電圧センサ３は、種々の構造・形式を有するものを適宜採用でき、本発明の端子電圧検出部に相当する。The voltage sensor 3 detects a voltage value between terminals of the actual battery 1, and the detected terminal voltage value Va is output to the filter processing unit 4 and the subtracter 9, respectively.
As the voltage sensor 3, ones having various structures and formats can be adopted as appropriate and correspond to the terminal voltage detection unit of the present invention.

フィルタ処理部４には、電流センサ２から充放電電流値Iaが、電圧センサ３から端子電圧値Vaが、また定数設定部１１から定数が入力される。そして、フィルタ処理部４は、充放電電流値Iaおよび端子電圧値Vaのそれぞれから遅い応答部分（拡散抵抗）を取り除いた早い応答部分（結線抵抗＋電解液抵抗＋電荷移動抵抗）を、フィルタ処理電流値Ibおよびフィルタ処理電圧値Vbとして逐次パラメータ推定部５に入力する。フィルタ処理部４については、後でより詳しく説明する。   The filter processing unit 4 receives a charge / discharge current value Ia from the current sensor 2, a terminal voltage value Va from the voltage sensor 3, and a constant from the constant setting unit 11. The filter processing unit 4 filters the fast response part (connection resistance + electrolyte resistance + charge transfer resistance) obtained by removing the slow response part (diffusion resistance) from each of the charge / discharge current value Ia and the terminal voltage value Va. The current value Ib and the filtered voltage value Vb are sequentially input to the parameter estimation unit 5. The filter processing unit 4 will be described in detail later.

逐次パラメータ推定部５は、図２に示す電池の等価回路モデルのうち、遅い応答部分が取り除かれた早い応答部分のパラメータを推定していく。図２において、R3およびC3、R4およびC4、R5およびC5でなる第３次〜第５次の抵抗−コンデンサ並列回路の部分（図２中の網掛け部分）が遅い応答部分を示し、R0、R1およびC1、R2およびC2で構成される１次、２次の抵抗−コンデンサ並列回路の部分が早い応答部分を示している。逐次パラメータ推定部５は、より具体的には、フィルタ処理部４から得たフィルタ処理電流値Ibおよびフィルタ処理電圧値Vbを入力信号として、例えばカルマン・フィルタを用いて、実電池１の出力値と電池等価回路モデルの早い応答部分の出力値とを比較する。そして、逐次パラメータ推定部５は、これらの出力値差が小さくなるように、上記モデルの状態方程式のパラメータを逐次調整していくことで、上記早い応答部分のパラメータを推定していく。なお、カルマン・フィルタによるパラメータ推定の詳細については、本出願人の特願２０１１−００７８７４に説明してある。
逐次パラメータ推定部５で推定されたパラメータである抵抗値（R0、R1、R2）およびコンデンサ容量（C1、C2）は、第１乗算器６へ出力される。The sequential parameter estimation unit 5 estimates the parameter of the fast response part from which the slow response part is removed from the equivalent circuit model of the battery shown in FIG. In FIG. 2, the third to fifth resistance-capacitor parallel circuit portions (shaded portions in FIG. 2) composed of R 3 and C 3 , R 4 and C 4 , R 5 and C 5 have a slow response. A portion of the primary and secondary resistance-capacitor parallel circuit composed of R 0 , R 1 and C 1 , R 2 and C 2 shows a fast response portion. More specifically, the sequential parameter estimation unit 5 uses the filter processing current value Ib and the filter processing voltage value Vb obtained from the filter processing unit 4 as input signals, for example, an output value of the actual battery 1 using a Kalman filter, for example. And the output value of the early response part of the battery equivalent circuit model. Then, the sequential parameter estimation unit 5 estimates the parameter of the early response part by sequentially adjusting the parameters of the state equation of the model so that the difference between the output values becomes small. Details of parameter estimation by the Kalman filter are described in Japanese Patent Application No. 2011-007874 of the present applicant.
The resistance values (R 0 , R 1 , R 2 ) and the capacitor capacities (C 1 , C 2 ), which are parameters estimated by the sequential parameter estimation unit 5, are output to the first multiplier 6.

第１乗算器６は、電流センサ２で検出された充放電電流値Iaと、逐次パラメータ推定部５で推定された抵抗値（R0、R1、R2）およびコンデンサ容量（C1、C2）とを、掛け合わせて、第１過電圧値V01を得る。この第１過電圧値V01は、加算器８へ出力される。
なお、第１乗算器６は、本発明の第１乗算部に相当する。The first multiplier 6 includes a charge / discharge current value Ia detected by the current sensor 2, a resistance value (R 0 , R 1 , R 2 ) estimated by the sequential parameter estimation unit 5, and a capacitor capacity (C 1 , C 2 ). 2 ) to obtain the first overvoltage value V 01 . The first overvoltage value V 01 is output to the adder 8.
The first multiplier 6 corresponds to the first multiplication unit of the present invention.

第２乗算器７は、定数設定部１１から得られた定数に電流センサ２から得られた充放電電流値Iaを掛けることで電池の遅い部分の第２過電圧値V02を得る。そして、第２乗算器７は、この第２過電圧値V02を加算器８へ出力する。
なお、第２乗算器７は、本発明の第２乗算部に相当する。The second multiplier 7 multiplies the constant obtained from the constant setting unit 11 by the charge / discharge current value Ia obtained from the current sensor 2 to obtain the second overvoltage value V 02 of the slow part of the battery. Then, the second multiplier 7 outputs the second overvoltage value V 02 to the adder 8.
The second multiplier 7 corresponds to the second multiplication unit of the present invention.

加算器８は、第１乗算器６で得られた電池の早い応答部分の第１過電圧値V01と、第２乗算器７で得られた電池の遅い応答部分の第２過電圧値V02とを加算して電池の過電圧値V0を得る。そして、加算器８は、この過電圧値V0を減算器９へ出力する。
なお、加算器８は、本発明の加算部に相当する。The adder 8 has a first overvoltage value V 01 of the early response portion of the battery obtained by the first multiplier 6 and a second overvoltage value V 02 of the late response portion of the battery obtained by the second multiplier 7. Is added to obtain the overvoltage value V 0 of the battery. The adder 8 outputs this overvoltage value V 0 to the subtracter 9.
The adder 8 corresponds to the adding unit of the present invention.

減算器９は、電圧センサ３で検出した端子電圧値Vaから加算器８で得た過電圧値V0を減算して電池の開放電圧値OCVを得る。そして、減算器９は、この開放電圧値OCVを開放電圧−充電率変換部１０へ出力する。
なお、減算器９は、本発明の減算部に相当する。The subtracter 9 subtracts the overvoltage value V 0 obtained by the adder 8 from the terminal voltage value Va detected by the voltage sensor 3 to obtain the open circuit voltage value OCV of the battery. Then, the subtractor 9 outputs the open circuit voltage value OCV to the open circuit voltage-charge rate conversion unit 10.
The subtractor 9 corresponds to a subtracting unit of the present invention.

開放電圧−充電率変換部１０は、あらかじめ実験で得た開放電圧と充電率との関係を表すデータがルック・アップ・テーブルとして記憶されており、減算器９で得られた開放電圧値OCVが入力されてこれに相当する充電率SOCOCVが出力される。
なお、開放電圧−充電率変換部１０は、本発明の開放電圧−充電率推定部に相当する。The open-circuit voltage-charge rate conversion unit 10 stores data representing the relationship between the open-circuit voltage and the charge rate obtained in advance as an experiment as a look-up table, and the open-circuit voltage value OCV obtained by the subtracter 9 is The charge rate SOC OCV corresponding to this is output.
The open-circuit voltage-charge rate conversion unit 10 corresponds to the open-circuit voltage-charge rate estimation unit of the present invention.

定数設定部１１は、実電池１の等価回路モデルのうち遅い応答部分を表す固有値としての定数を設定してあり、この定数をフィルタ処理部４および第２乗算器７へそれぞれ出力する。この固有値、すなわち定数は実電池１に固有のものであり、この値は実験により求めておく。   The constant setting unit 11 sets a constant as an eigenvalue representing a slow response portion in the equivalent circuit model of the real battery 1, and outputs this constant to the filter processing unit 4 and the second multiplier 7, respectively. This eigenvalue, that is, the constant is peculiar to the actual battery 1, and this value is obtained by experiments.

次に上記フィルタ処理部４につき、図２および図３を参照しながらより詳細に説明する。
フィルタ処理部４は、逐次パラメータ推定部５が、電池の早い応答部分（結線抵抗＋電解液抵抗＋電荷移動抵抗）と遅い応答部分（拡散抵抗）とで過電圧部分が重複して演算されないように、パラメータ推定を行うことができるようにするため、充放電電流値Iaおよび端子電圧値Vaに対しフィルタリングを行うものである。Next, the filter processing unit 4 will be described in more detail with reference to FIGS.
The filter processing unit 4 prevents the sequential parameter estimation unit 5 from calculating the overvoltage portion overlapping between the fast response portion (connection resistance + electrolyte resistance + charge transfer resistance) and the slow response portion (diffusion resistance) of the battery. In order to enable parameter estimation, filtering is performed on the charge / discharge current value Ia and the terminal voltage value Va.

本実施例では、逐次パラメータ推定部５でパラメータ推定を行う前に充放電電流値Iaおよび端子電圧値Vaに対して事前に実験で求めた値（定数）を用いてフィルタ処理を行う。そして、本実施例は、図２に示すように、入力信号から遅い応答部分が取り除かれた信号を用いて早い応答部分のパラメータ推定が行われるようにして、早い応答部分の過電圧と遅い応答部分の過電圧とが重複しないようにする。   In this embodiment, the filter processing is performed using values (constants) obtained in advance by experiments with respect to the charge / discharge current value Ia and the terminal voltage value Va before the parameter estimation by the sequential parameter estimation unit 5. In this embodiment, as shown in FIG. 2, the parameter of the early response portion is estimated using the signal obtained by removing the late response portion from the input signal, so that the overvoltage and the late response portion of the early response portion are obtained. Do not overlap with the overvoltage.

本実施例では、端子電圧値Vaについては、たとえば図３に示すロー・パス・フィルタが用いられる。
同図において、ロー・パス・フィルタは、端子電圧値Vaから、充放電電流値Iaを用いて演算して得た遅い応答部分の電圧値Vcを減算して早い応答部分の電圧値であるフィルタ処理電圧値Vbを算出することで、遅い応答部分の電圧分を取り除く。In this embodiment, for the terminal voltage value Va, for example, a low pass filter shown in FIG. 3 is used.
In the figure, the low pass filter is a filter that subtracts the voltage value Vc of the slow response portion obtained by calculation using the charge / discharge current value Ia from the terminal voltage value Va and is the voltage value of the early response portion. By calculating the processing voltage value Vb, the voltage component of the slow response portion is removed.

図３において、電池の遅い応答部分の等価回路モデルにおける３次のR3、C3に対応する伝達関数１２と、４次のR4、C4に対応する伝達関数１３と、５次のR5、C5に対応する伝達関数１４とに、充放電電流値Iaが入力されて、それぞれの過電圧値が得られる。そして、これらの過電圧値が加算器１５で加算されて遅い応答部分の電圧値Vcが得られる。なお、図３におけるｓは、ラプラス変換の変数である。
減算器１６は、端子電値圧Vaから遅い応答部分の電圧値Vcを減算して早い応答部分の電圧値Vbを得る。In FIG. 3, the transfer function 12 corresponding to the third order R 3 and C 3 , the transfer function 13 corresponding to the fourth order R 4 and C 4 , and the fifth order R in the equivalent circuit model of the slow response part of the battery. 5, the transfer function 14 corresponding to C 5, the charge-discharge current value Ia is input, each of the overvoltage value is obtained. These overvoltage values are added by the adder 15 to obtain the voltage value Vc of the slow response portion. Note that s in FIG. 3 is a variable of Laplace transform.
The subtracter 16 subtracts the voltage value Vc of the late response portion from the terminal voltage value Va to obtain the voltage value Vb of the early response portion.

一方、電流に関しては、フィルタ処理部４は、ハイ・パス・フィルタを用いて遅い応答部分を取り除いてフィルタ処理電流値Ibとして逐次パラメータ推定部５に入力するが、フィルタ処理部４で処理を行わずそのまま逐次パラメータ推定部５に入力しても良い。   On the other hand, regarding the current, the filter processing unit 4 removes the slow response portion using a high-pass filter and inputs the current to the parameter estimation unit 5 as the filter processing current value Ib, but the filter processing unit 4 performs the processing. Instead, it may be input to the sequential parameter estimation unit 5 as it is.

次に、上記のように構成した実施例１の電池の状態推定装置の作用につき説明する。
電流センサ２は、実電池１において充放電される充放電電流値Iaを検出し、この値を、フィルタ処理部４および第２乗算器７にそれぞれ入力する。
一方、電圧センサ３は、実電池１の端子電圧値Vaを検出し、この値を、フィルタ処理部４および減算器９にそれぞれ入力する。Next, the operation of the battery state estimation apparatus of Example 1 configured as described above will be described.
The current sensor 2 detects a charge / discharge current value Ia charged / discharged in the actual battery 1 and inputs this value to the filter processing unit 4 and the second multiplier 7, respectively.
On the other hand, the voltage sensor 3 detects the terminal voltage value Va of the actual battery 1 and inputs this value to the filter processing unit 4 and the subtracter 9.

フィルタ処理部４は、定数設定部１１からの定数を用いて、充放電電流値Iaおよび端子電圧値Vaから電池の遅い応答部分の分をそれぞれ取り除き、フィルタ処理電流値Ibおよびフィルタ処理電圧値Vbとして、逐次パラメータ推定部５に入力する。   The filter processing unit 4 uses the constants from the constant setting unit 11 to remove the slow response portion of the battery from the charging / discharging current value Ia and the terminal voltage value Va, respectively, and the filtering processing current value Ib and the filtering processing voltage value Vb. Is input to the sequential parameter estimation unit 5.

逐次パラメータ推定部５は、入力されたフィルタ処理電流値Ibとフィルタ処理電圧値Vbとに基づき、図２中の電池の早い応答部分の等価回路モデル（図２の抵抗R0と第１次および第２次の抵抗−コンデンサ並列回路（R1、C1、R2、C2））およびカルマン・フィルタを用いて、早い応答部分のパラメータである抵抗値（R0、R1、R2）およびコンデンサ容量（C1、C2）を推定する。これらの抵抗値およびコンデンサ容量は第１乗算器６に入力されて、電流センサ２から入力された充放電電流値Iaと掛け合わされて第１過電圧値V01が得られる。この第１過電圧値V01は、加算器８に入力される。Sequential parameter estimation unit 5, based on the filtering current value Ib that is input and the filtered voltage value Vb, the first-order and resistance R 0 of the equivalent circuit model (Figure 2 early response portion of the battery in FIG. 2 Using the second-order resistor-capacitor parallel circuit (R 1 , C 1 , R 2 , C 2 )) and the Kalman filter, the resistance value (R 0 , R 1 , R 2 ) that is a parameter of the fast response part And estimate the capacitor capacity (C 1 , C 2 ). These resistance value and capacitor capacity are input to the first multiplier 6 and multiplied by the charge / discharge current value Ia input from the current sensor 2 to obtain a first overvoltage value V 01 . The first overvoltage value V 01 is input to the adder 8.

一方、第２乗算器７には定数設定部１１から電池の遅い部分の抵抗値およびコンデンサ容量を表す定数が入力され、この定数に電流センサ２から入力された充放電電流値Iaが掛けられて電池の遅い応答部分での第２過電圧値V02が得られる。この第２過電圧値V02は、加算器８に入力される。On the other hand, a constant representing the resistance value and capacitor capacity of the slow part of the battery is input from the constant setting unit 11 to the second multiplier 7, and this constant is multiplied by the charge / discharge current value Ia input from the current sensor 2. A second overvoltage value V 02 is obtained in the slow response part of the battery. The second overvoltage value V 02 is input to the adder 8.

加算器８では、第１乗算器６から入力された第１過電圧値V01と第２乗算器７から入力された第２過電圧値V02とを加算して電池の過電圧値V0を得る。この過電圧値V0は、減算器９に入力される。
減算器９では、電圧センサ３から入力された端子電圧値Vaから、加算器８から入力された過電圧値V0を減算することで、電池の開放電圧OCVを得る。この開放電圧OCVは、開放電圧−充電率変換部１０に入力される。The adder 8 adds the first overvoltage value V 01 input from the first multiplier 6 and the second overvoltage value V 02 input from the second multiplier 7 to obtain the battery overvoltage value V 0 . This overvoltage value V 0 is input to the subtractor 9.
The subtracter 9 subtracts the overvoltage value V 0 input from the adder 8 from the terminal voltage value Va input from the voltage sensor 3 to obtain the open circuit voltage OCV of the battery. The open circuit voltage OCV is input to the open circuit voltage-charge rate conversion unit 10.

開放電圧−充電率変換部１０は、開放電圧−充電率のルック・アップ・テーブルを用いて、入力された開放電圧値OCVに相当する充電率SOCOCVを得る。そして、開放電圧−充電率変換部１０は、この充電率SOCOCVをたとえば走行可能距離演算部(図示せず)などの必要演算部へ出力する。The open-circuit voltage-charge rate conversion unit 10 obtains a charge rate SOC OCV corresponding to the input open-circuit voltage value OCV using an open-circuit voltage-charge rate look-up table. Then, open-circuit voltage-charge rate conversion unit 10 outputs this charge rate SOC OCV to a necessary calculation unit such as a travelable distance calculation unit (not shown).

以上の説明から分かるように、実施例１の電池の状態推定装置は、以下の効果を有する。
実施例１の電池の状態推定装置は、フィルタ処理部４で遅い応答部分が除去されたフィルタ処理電流値Ibおよびフィルタ処理電圧値Vbを用い、電池の早い応答部分の等価回路モデルを用いて逐次パラメータ推定を行う。そして、状態推定装置は、逐次パラメータ推定により得られたパラメータ（早い応答部分の抵抗値およびコンデンサ）に充放電電流値Iaを掛けて第１過電圧値V01を得る。また、電池の遅い応答部分については、状態推定装置は、予め実験で求めた定数（電池の固有値）に充放電電流値Iaを掛けて第２過電圧値V0２を得る。これら第１過電圧値V01と第２過電圧値V0２を加算することで電池の過電圧値V0を精度よく、しかも簡単に得ることができるようになる。したがって、電池の実際での使用環境下にあっては逐次パラメータ法では困難な電池の遅い応答部分までも考慮して、電池の内部状態を精度よく推定することが可能となる。As can be seen from the above description, the battery state estimation device of Example 1 has the following effects.
The battery state estimation apparatus according to the first embodiment uses the filter processing current value Ib and the filter processing voltage value Vb from which the slow response portion is removed by the filter processing unit 4, and sequentially uses the equivalent circuit model of the early response portion of the battery. Perform parameter estimation. Then, the state estimating apparatus obtains a first overvoltage value V 01 is multiplied by the charge-discharge current value Ia on the parameters obtained by the sequential parameter estimation (resistance and capacitor fast response portion). For the slow response portion of the battery, the state estimation device obtains the second overvoltage value V 02 by multiplying a constant (battery eigenvalue) obtained in advance by the charge / discharge current value Ia. By adding the first overvoltage value V 01 and the second overvoltage value V 02 , the battery overvoltage value V 0 can be obtained accurately and easily. Therefore, it is possible to accurately estimate the internal state of the battery in consideration of even the slow response part of the battery, which is difficult with the sequential parameter method under the actual usage environment of the battery.

電池の充電率については、状態推定装置は、端子電圧値Vaから上記過電圧値V0を減算して開放電圧値OCVを求め、開放電圧−充電率の関係データを用いて開放電圧値OCVに相当する充電率SOCOCVを得る。よって、簡単な演算で充電率を精度よく得ることができる。The charging rate of the battery, the state estimating apparatus obtains the open circuit voltage value OCV from the terminal voltage value Va by subtracting said over-voltage value V 0, the open circuit voltage - corresponding to the open circuit voltage value OCV by using the relationship data of the charging rate To get the SOC OCV to charge. Therefore, the charging rate can be obtained with high accuracy by a simple calculation.

したがって、電池の早い応答部分の過電圧値と遅い応答部分の過電圧値とが重複して演算されるのを防ぐことができる。   Therefore, it is possible to prevent the overvoltage value of the early response portion of the battery and the overvoltage value of the late response portion from being calculated in duplicate.

次に、他の実施例２について説明する。この他の実施例２の説明にあたっては、前記実施例１と同様の構成部分については図示を省略し、もしくは同一の符号を付けてその説明を省略し、相違点についてのみ説明する。   Next, another embodiment 2 will be described. In the description of the second embodiment, the same components as those of the first embodiment are not shown, or the same reference numerals are given and the description thereof is omitted, and only the differences are described.

実施例２の電池の内部状態の状態推定装置は、図４に示すように、図１の実施例１のフィルタ処理部４を取り除いた点が実施例１と異なる。その他の構成は実施例１と同様である。   As shown in FIG. 4, the state estimation device for the internal state of the battery of Example 2 is different from Example 1 in that the filter processing unit 4 of Example 1 of FIG. 1 is removed. Other configurations are the same as those of the first embodiment.

実施例２の電池の状態推定装置では、実施例１のロー・パス・フィルタのような電池の遅い応答部分での過電圧部分を取り除くフィルタ処理部が存在しないので、逐次パラメータ推定部５でのパラメータ推定では、電池の遅い応答部分での過電圧値が重複して演算されてしまうのを防ぐ別の手段が必要となる。
そこで、実施例２では、逐次パラメータ推定部５に、サンプリング周期を変えるようにして電池の早い応答部分と遅い応答部分とを分けるフィルタ処理機能を持たせるようにしている。In the battery state estimation apparatus according to the second embodiment, there is no filter processing unit for removing the overvoltage portion in the slow response portion of the battery, such as the low pass filter according to the first embodiment. The estimation requires another means for preventing the overvoltage value in the slow response part of the battery from being calculated redundantly.
Therefore, in the second embodiment, the sequential parameter estimation unit 5 is provided with a filter processing function for changing the early response portion and the late response portion of the battery by changing the sampling period.

すなわち、本実施例では、図５に示すように、逐次パラメータ推定部５が、過電圧の電池等価回路モデルに対して異なるサンプリング周期（10秒と0.1秒）でパラメータ推定した場合に、どの周波数帯域のパラメータが得られるかを検討した。この時得られたボード線図を図６に示す。   That is, in this embodiment, as shown in FIG. 5, when the sequential parameter estimation unit 5 estimates parameters with different sampling periods (10 seconds and 0.1 seconds) with respect to an overvoltage battery equivalent circuit model, We examined whether the following parameters could be obtained. The Bode diagram obtained at this time is shown in FIG.

図６のボード線図（横軸に周波数（Hz）、縦軸に振幅（dB））において、破線は、電流センサ２で検出された充放電電流値Iaおよび電圧センサ３で得られた端子電圧値Vaに対しサンプリング周期変更によるフィルタ処理をしなかった場合、一点鎖線は上記充放電電流値Iaおよび端子電圧値Vaに対しサンプリング周期変更によるフィルタ処理（サンプリング間隔10秒にてダウンサンプリング）を行った場合、実線は同様のフィルタ処理（サンプリング間隔0.1秒にてダウンサンプリング）を行った場合、のそれぞれのシステム同定結果を示す。   In the Bode diagram of FIG. 6 (frequency (Hz) on the horizontal axis and amplitude (dB) on the vertical axis), the broken lines indicate the charge / discharge current value Ia detected by the current sensor 2 and the terminal voltage obtained by the voltage sensor 3. When the value Va is not filtered by changing the sampling period, the alternate long and short dash line performs the filtering process (down sampling at a sampling interval of 10 seconds) for the charge / discharge current value Ia and the terminal voltage value Va. In this case, the solid line shows the respective system identification results when the same filtering process (downsampling at a sampling interval of 0.1 seconds) is performed.

図６から分かるように、サンプリング周期を10秒で逐次パラメータ推定を行った実験の場合には、遅い応答部分の帯域で一致することが示されている。しかしながら、実際には、サンプリング周期を10秒にて逐次パラメータ推定を行った場合、電池の遅い応答部分はS/N比が小さく可観測性の観点から逐次パラメータ推定が困難である。
一方、サンプリング周期を0.1秒で逐次パラメータ推定を行った場合には、電池の早い応答部分の帯域では一致しているものの、電池の遅い応答部分では一致していないことが示されている。As can be seen from FIG. 6, in the case of the experiment in which the parameter estimation is performed sequentially with a sampling period of 10 seconds, it is shown that the matching is achieved in the band of the slow response part. However, in practice, when parameter estimation is performed sequentially with a sampling period of 10 seconds, it is difficult to estimate parameters sequentially from the viewpoint of observability because the slow response part of the battery has a small S / N ratio.
On the other hand, when the parameter estimation is performed sequentially with a sampling period of 0.1 second, it is shown that the fast response part bands of the battery are identical, but the slow response part of the battery is not identical.

すなわち、電池の早い応答部分の帯域では、電池の遅い応答部分とは異なって、S/N比や可観測性の観点から容易に逐次パラメータ推定ができる。したがって、サンプリング周期を0.1秒に設定して逐次パラメータ推定を行えば、早い応答部分のみのパラメータを算出することができる。この結果、これらパラメータを用いることで、早い応答部分のみの過電圧を演算することができるようになる。
なお、サンプリング周期は、電池の早い応答部分と遅い応答部分との境目によって決定することができ、この境目は電池の使用条件、たとえば充電率、放電電流、健全度などによって可変するものとし、遅い応答部分に関しては図４で示したように事前に求めた値を用いる。That is, in the band of the early response part of the battery, unlike the slow response part of the battery, it is possible to easily estimate the parameters sequentially from the viewpoint of S / N ratio and observability. Therefore, if the parameter is estimated sequentially with the sampling period set to 0.1 seconds, it is possible to calculate the parameter of only the fast response portion. As a result, by using these parameters, it becomes possible to calculate the overvoltage of only the fast response part.
Note that the sampling period can be determined by the boundary between the early response portion and the late response portion of the battery, and this boundary is variable depending on the use condition of the battery, for example, charging rate, discharge current, soundness, etc. As for the response part, values obtained in advance as shown in FIG. 4 are used.

以上のように、実施例２の電池の状態推定装置は、逐次パラメータ推定のところでサンプリング周期を変えることで早い応答部分と遅い応答部分とを分ける。これにより、実施例２は、両方の部分で過電圧が重複するのを防止することで、電池の内部状態を精度よく推定することができるなど実施例１と同様の効果を有する。   As described above, the battery state estimation device according to the second embodiment separates the fast response portion and the slow response portion by changing the sampling period in the sequential parameter estimation. Thereby, Example 2 has the same effect as Example 1 by being able to estimate the internal state of a battery accurately by preventing that an overvoltage overlaps in both parts.

以上、本発明を上記各実施例に基づき説明してきたが、本発明はこれらの実施例に限られず、本発明の要旨を逸脱しない範囲で設計変更等があった場合でも、本発明に含まれる。   The present invention has been described based on the above embodiments. However, the present invention is not limited to these embodiments, and is included in the present invention even when there is a design change or the like without departing from the gist of the present invention. .

たとえば、フィルタ処理部４で用いるロー・パス・フィルタやハイ・パス・フィルタは実施例のものに限られず、これ以外の種々のものを用いてもよい。
電池の等価回路モデルはフォスター型に限られず、拡散方程式等の電池の内部を表す数学モデルであれば他のものであってもよい。For example, the low pass filter and the high pass filter used in the filter processing unit 4 are not limited to those of the embodiment, and various other types may be used.
The equivalent circuit model of the battery is not limited to the Foster type, and may be any other mathematical model representing the inside of the battery, such as a diffusion equation.

また、本発明の電池の状態推定装置は、電気自動車等の車両に限られず、二次電池の内部状態を推測するものであれば、いかなる装置に適用してもよい。   Moreover, the battery state estimation device of the present invention is not limited to a vehicle such as an electric vehicle, and may be applied to any device as long as it estimates the internal state of the secondary battery.

１ 実電池
２ 電流センサ（充放電電流検出部）
３ 電圧センサ（端子電圧検出部）
４ フィルタ処理部
５ 逐次パラメータ推定部
６ 第１乗算器（第１乗算部）
７ 第２乗算器（第２乗算部）
８ 加算器(加算部)
９ 減算器（減算部）
１０ 開放電圧−充電率変換部（開放電圧−充電率推定部）
１１ 定数設定部
１２、１３、１４ 伝達関数
１５ 加算器
１６ 減算器1 actual battery 2 current sensor (charge / discharge current detector)
3 Voltage sensor (terminal voltage detector)
4 filter processing unit 5 sequential parameter estimation unit 6 first multiplier (first multiplication unit)
7 Second multiplier (second multiplier)
8 Adder (adder)
9 Subtractor (subtraction unit)
10 Open-circuit voltage-charge rate conversion unit (open-circuit voltage-charge rate estimation unit)
11 Constant Setting Unit 12, 13, 14 Transfer Function 15 Adder 16 Subtractor

Claims (4)

電池の充放電電流値を検出する充放電電流検出部と、
前記電池の端子電圧値を検出する端子電圧検出部と、
前記電池の早い応答部分と遅い応答部分とを有する等価回路モデルと、
前記充放電電流検出部から入力された前記充放電電流値と前記端子電圧検出部から入力された前記端子電圧値とに基づき、前記等価回路モデルの応答部分のうち前記早い応答部分のみを用いて逐次パラメータ推定を行う逐次パラメータ推定部と、
前記等価回路モデルの前記遅い応答部分における抵抗とコンデンサ容量を表す定数を設定する定数設定部と、
前記逐次パラメータ推定部で推定したパラメータに前記充放電電流値を乗算することで前記早い応答部分の過電圧値を得る第１乗算部と、
前記定数設定部で設定した前記定数に前記充放電電流値を乗算することで前記遅い応答部分の過電圧値を得る第２乗算部と、
前記第１乗算部で得た前記早い応答部分の前記過電圧値と前記第２乗算部で得た前記遅い応答部分の前記過電圧値とを加算して前記電池の過電圧値を得る加算部と、
を備えた電池の状態推定装置。A charge / discharge current detector for detecting the charge / discharge current value of the battery;
A terminal voltage detector for detecting a terminal voltage value of the battery;
An equivalent circuit model having a fast response portion and a slow response portion of the battery;
Based on the charge / discharge current value input from the charge / discharge current detection unit and the terminal voltage value input from the terminal voltage detection unit, only the fast response part of the response part of the equivalent circuit model is used. A sequential parameter estimation unit for performing sequential parameter estimation;
A constant setting unit for setting constants representing resistance and capacitor capacity in the slow response portion of the equivalent circuit model;
A first multiplication unit that obtains an overvoltage value of the quick response part by multiplying the charge / discharge current value by the parameter estimated by the sequential parameter estimation unit;
A second multiplier for obtaining an overvoltage value of the slow response portion by multiplying the constant set by the constant setting unit by the charge / discharge current value;
An adding unit for adding the overvoltage value of the early response part obtained by the first multiplication unit and the overvoltage value of the slow response part obtained by the second multiplication unit to obtain the overvoltage value of the battery;
A battery state estimation device comprising: 請求項１に記載の電池の状態推定装置において、
前記端子電圧検出部で得た前記端子電圧値から前記加算部で得た前記過電圧値を減算して前記電池の開放電圧値を得る減算部と、
該減算部で得た前記開放電圧値に基づき前記電池の充電率を求める開放電圧−充電率推定部と、
を有する、
ことを特徴とする電池の状態推定装置。The battery state estimation device according to claim 1,
A subtracting unit for subtracting the overvoltage value obtained by the adding unit from the terminal voltage value obtained by the terminal voltage detecting unit to obtain an open-circuit voltage value of the battery;
An open-circuit voltage-charge rate estimator for obtaining a charge rate of the battery based on the open-circuit voltage value obtained by the subtractor;
Having
A battery state estimation device. 請求項１又は請求項２に記載の電池の状態推定装置において、
前記端子電圧検出部で得た前記端子電圧値のうち前記遅い応答部分の分を取り除いて前記逐次パラメータ推定部へ入力するフィルタ処理部を有する、
ことを特徴とする電池の状態推定装置。In the battery state estimation device according to claim 1 or 2,
A filter processing unit that removes the slow response portion of the terminal voltage value obtained by the terminal voltage detection unit and inputs the terminal response value to the sequential parameter estimation unit;
A battery state estimation device. 請求項３に記載の電池の状態推定装置において、
前記フィルタ処理部は、前記充放電電流検出部で得た前記充放電電流値のうち前記遅い応答部分の分を取り除いて前記逐次パラメータ推定部へ入力する、
ことを特徴とする電池の状態推定装置。In the battery state estimation device according to claim 3,
The filter processing unit removes the slow response portion from the charge / discharge current value obtained by the charge / discharge current detection unit and inputs it to the sequential parameter estimation unit.
A battery state estimation device.
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